CN210762526U

CN210762526U - Material sorting device for automatic storage system

Info

Publication number: CN210762526U
Application number: CN201921709535.0U
Authority: CN
Inventors: 张志陆
Original assignee: Suzhou Dafengdie Intelligent Technology Co ltd
Current assignee: Suzhou Dafengdie Intelligent Technology Co ltd
Priority date: 2019-05-29
Filing date: 2019-10-12
Publication date: 2020-06-16
Anticipated expiration: 2029-10-12
Also published as: CN110589336A; TWM583442U; CN110589336B

Abstract

The utility model provides an automatic sorting device that warehouse system used, the removal route of correctable article to with a plurality of articles in the first material case of two on the first transport module accurately place according to the preface in the article place department of the second material case of second on the second transport module, accelerate the speed that the shipment was picked, improve the efficiency that the shipment was picked. The utility model discloses also can with one of them first material case can fill the article again and do not have idle space, another first material case then is shifted out from the storage cabinet by the headroom, reduces material case quantity, reduces the storage space who occupies. The utility model discloses can also be through the angle of adjustment article to there is not warpage or some little warped position to aim at the article and place the department, make the article can smoothly get into the article and place the department, prevent that two side cards of article from being on two locating plates.

Description

Material sorting device for automatic storage system

Technical Field

The utility model belongs to the technical field of the sorting device technique and specifically relates to a sorting device that automatic warehouse system used is related to.

Background

Warehouse management is of considerable importance to many industries. Especially for enterprises with various material types and huge material storage amount, if the materials can be classified properly and placed at proper positions, the storage space can be brought into full play to the maximum benefit, and the search time is reduced.

Taking Surface Mount Technology (SMT) as an example, SMT is a fundamental industry in the field of electronic manufacturing, and warehouse management is an important part of the process of SMT, and mainly includes the steps of material feeding, material discharging, material returning, material supplementing, and the like.

However, most of the existing storage and distribution systems adopt a paper bill and a manual identification and search method, which has low working efficiency, high error rate, poor real-time updating, and a lot of requirements for the operation skills of the operators, and requires long-time training of skilled personnel to effectively perform the processes of feeding, discharging and the like.

Further, in order to be able to effectively, accurately classify and deposit the material, the material storage position of different grade type is mostly fixed setting, in order to carry out flow operations such as pan feeding, ejection of compact proficiently accurately, has further improved the technical requirement to operating personnel again.

Moreover, due to the characteristics of mass production, various varieties and the like in the electronic product production industry, more materials are used; if the materials are managed and transferred manually, the problems of difficult searching and time consumption exist. Therefore, the automation of material storage and transfer transportation needs to be considered, so that the time for searching and obtaining materials is shortened, the logistics speed is increased, and the production efficiency is improved.

At present, there is a storage and transportation device for automatic warehousing in the market to solve the above problems, which comprises a warehouse cabinet, a guide rail, an access device, a first transportation module, a second transportation module and a clamping module. The storing and taking device takes the objects out of the storage cabinet and then conveys the objects to the conveying module through the guide rail to finish the action of taking the materials. The storing and taking device can also take the objects out of the first conveying module and then convey the objects to the storage cabinet through the guide rail so as to finish the action of storing the materials. The clamping module clamps a plurality of objects in a certain material box on the first conveying module and places the objects in a certain material box on the second conveying module.

However, in the process of picking up the delivered goods, because the moving path of the object frequently deviates when the object is moved by the clamping module, the clamping module cannot accurately and sequentially place the objects in one or more material boxes on the first conveying module in the plurality of object placing positions of the plurality of material boxes on the second conveying module, and therefore, before the objects are placed in the plurality of object placing positions of the plurality of material boxes on the second conveying module, the positions of the objects must be manually adjusted, and the objects can be accurately placed in the plurality of object placing positions of the plurality of material boxes on the second conveying module. Furthermore, after a certain material box of the second conveying module is filled with the objects, the second conveying module must move the next material box to a fixed point, so that the clamping module continues to place the rest of the objects in the certain material box on the first conveying module in the next material box of the second conveying module. The operation mode has the disadvantages of slow material discharging and sorting speed and poor efficiency.

After all the material boxes on the second conveying module are filled with the articles and delivered, the remaining articles in the material boxes on the first conveying module become stock articles. The problem is that the plurality of material boxes on the first conveying module are not filled with the objects, and the clamping module cannot place the objects in one of the two material boxes of the first conveying module in the other one of the two material boxes, so that the plurality of material boxes which are not filled with the objects still have a lot of idle spaces, the problem that the material boxes occupy too much storage space due to too many material boxes is caused, and the storage management efficiency is reduced.

In addition, under long-term use, the two sides of the object are difficult to avoid warping at a certain position. If the area of the warping part is larger than the allowable area of the two positioning plates, the width of the warping part is larger than the distance between the two positioning plates. Unfortunately, if the two side warping portions of the object are exactly at the bottom end when the clamping module clamps the object, the two side warping portions of the object are clamped on the two positioning plates and cannot smoothly enter the object placing position between the two positioning plates.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a sorting device for an automatic warehousing system, which can correct the moving path of the articles, and accurately place a plurality of articles in one or more material boxes on a first conveying module in a plurality of material boxes on a second conveying module according to the sequence, so as to speed the shipment sorting and improve the efficiency of the shipment sorting.

Another object of the utility model is to provide a sorting device that automatic warehouse system used, the removal route of correctable article, and with a plurality of articles in one of them of two material casees of first transport module place in another plural article place according to the preface accurately, make some material casees in the first transport module can fill the article again and do not have idle space, all the other material casees in the first transport module then are shifted out from the storage cabinet by the headroom, reduce material case quantity, reduce the storage space who occupies, promote storage management efficiency.

Another object of the utility model is to provide a sorting device that automatic warehouse system used, even a certain position of the two sides of article produces serious warpage, the utility model discloses also can be through the angle of adjustment article to there is not warpage or some little warped position alignment article places the department, makes the article can smoothly get into the article and places the department, prevents that the two side cards of article from being on two locating plates.

In order to achieve the above object, the present invention provides a sorting device for an automatic warehousing system, comprising: the device comprises a first conveying module, a second conveying module, two first material boxes, two second material boxes, a plurality of positioning plates, a clamping module, an optical reader, a correcting module and a control unit, wherein the two first material boxes are arranged in the first conveying module, the two second material boxes are arranged in the second conveying module, the positioning plates are respectively arranged in the two first material boxes and the two second material boxes at intervals, the top of each positioning plate is provided with a first identification reflection part, an object is arranged between the two positioning plates of one first material box, the optical reader is arranged on the clamping module, and the control unit is electrically connected with the first conveying module, the second conveying module, the clamping module, the optical reader and the correcting module;

the control unit controls the clamping module to move to the upper part of two positioning plates of another first material box or one second material box, the optical reader optically reads the first identification reflection parts of two positioning plates of the other first material box or the second material box to obtain a first optical positioning signal and transmits the first optical positioning signal to the control unit, the control unit calculates the correct position of the object placement part according to the first optical positioning signal, then the control unit controls the clamping module to move to the upper part of two positioning plates of the first material box, the optical reader optically reads the first identification reflection parts of two positioning plates of the first material box to obtain a second optical positioning signal and transmits the second optical positioning signal to the control unit, and the control unit calculates the correct position of the object according to the second optical signal, the control unit controls the clamping module to take out the object accurately according to the calculated correct position of the object, then the control unit controls the clamping module to move the object to the correction module, the correction module measures whether the object deviates from a correct moving path to obtain a measured value and transmits the measured value to the control unit, the control unit calculates a deviation value of the object and the correct moving path according to the measured value, and the control unit controls the clamping module to move the object from the correction module to the position above the object placing position through the correct moving path and accurately place the object at the object placing position according to the calculated deviation value and the correct position of the object placing position.

Preferably, the correcting module is disposed between the first conveying module and the second conveying module, is located at one side of the clamping module, and is spaced apart from the clamping module by a distance, and includes a first distance meter and a second distance meter, the first distance meter and the second distance meter are respectively electrically connected to the control unit, a measuring space is provided between the first distance meter and the second distance meter, the first distance meter includes a first distance measuring module, the first distance measuring module has a first distance measuring range, the second distance meter includes a second distance measuring module, and the second distance measuring module has a second distance measuring range;

when the object is moved to the measuring space, the object is located in the first measuring range and the second measuring range, the first distance measuring module measures the distance between the object and the first distance measuring instrument to obtain a first measured value and transmits the first measured value to the control unit, the second distance measuring module measures the distance between the object and the second distance measuring instrument to obtain a second measured value and transmits the second measured value to the control unit, the control unit calculates the deviation value according to the first measured value and the second measured value, and the deviation value is one half of the absolute value of the difference value of the first measured value and the second measured value.

Preferably, the top of each positioning plate is provided with two first identification reflection parts, the optical reader optically reads the first identification reflection parts of two positioning plates of the other first material box or the second material box, and the control unit calculates the area of the space between the first identification reflection parts of two positioning plates of the other first material box or the second material box according to the first optical positioning signal and defines an allowable area accordingly;

the first distance measuring device is provided with a third distance measuring module, the third distance measuring module is provided with a third distance measuring range, the second distance measuring device is provided with a fourth distance measuring module, the fourth distance measuring module is provided with a fourth distance measuring range, the spacing distance between the first distance measuring module and the third distance measuring module and the spacing distance between the second distance measuring module and the fourth distance measuring module are equal to the spacing distance between the two first identification reflecting parts of the positioning plates, and the spacing distance between the first distance measuring device and the second distance measuring device is equal to the spacing distance between the two positioning plates;

when the object is moved to the measuring space, the bottom end of the object is located in the first ranging range to the fourth ranging range, the third ranging module measures the distance between the object and the first range finder to obtain a third measurement value and transmits the third measurement value to the control unit, the fourth ranging module measures the distance between the object and the second range finder to obtain a fourth measurement value and transmits the fourth measurement value to the control unit, and the control unit calculates the actual area of the bottom ends of the two sides of the object according to the first measurement value to the fourth measurement value;

when the actual area of the bottom ends of the two sides of the object is larger than the allowable area, the control unit controls the clamping module to rotate the object so as to adjust the angle of the object, so that the area of the bottom ends of the two sides of the rotated object is equal to or smaller than the allowable area.

Preferably, the first ranging module is an infrared ranging module or a laser ranging module, the second ranging module is an infrared ranging module or a laser ranging module, the third ranging module is an infrared ranging module or a laser ranging module, and the fourth ranging module is an infrared ranging module or a laser ranging module.

Preferably, the calibration module is provided with a second identification reflection part, when the object is moved to the calibration module by the clamping module, the optical reader optically reads the second identification reflection part of the calibration module to obtain a third optical positioning signal and transmits the third optical positioning signal to the control unit, and the control unit records that the object is actually moved to the calibration module by the clamping module according to the third optical positioning signal.

Preferably, the optical reader includes a light emitting portion and a light receiving portion, when the optical reader performs an optical reading operation, the light emitting portion emits light, and the second identification reflecting portion of the calibration module reflects the light back to the light receiving portion to obtain the third optical positioning signal.

Preferably, the optical reader includes a light emitting portion and a light receiving portion, the light emitting portion and the light receiving portion are electrically connected to the control unit, respectively, and when the optical reader performs an optical reading operation, the light emitting portion emits light, and the first identification reflecting portion of the two positioning plates reflects light back to the light receiving portion to obtain the first optical positioning signal or the second optical positioning signal.

Preferably, the outer sides of the two first material boxes and the outer sides of the two second material boxes are respectively provided with a plurality of sensing and positioning structures, each sensing and positioning structure is a convex column or a groove, each sensing and positioning structure is provided with a third identification reflection part, the optical reader optically reads the first identification reflection part of one of the two positioning plates of the other first material box or the one second material box, and simultaneously the optical reader optically reads the third identification reflection part of the sensing and positioning structure to obtain the first optical positioning signal and transmit the first optical positioning signal to the control unit.

Preferably, the clamping module includes a base, a robot arm and a chuck, the base is disposed between the first conveying module and the second conveying module, a first end of the robot arm is rotatably disposed on the base, the robot arm is electrically connected to the control unit, the chuck is disposed at a second end of the robot arm, and is electrically connected to the control unit, and can clamp the object, and the optical reader is disposed on the chuck.

Preferably, the first conveying module includes a first horizontal conveying portion and two first material picking portions, the first horizontal conveying portion is used to be disposed adjacent to one side of a storage cabinet at a distance and electrically connected to the control unit, the two first material picking portions are disposed at intervals on one side of the first horizontal conveying portion away from the storage cabinet and electrically connected to the control unit, the two first material boxes are conveyed from the storage cabinet to the first horizontal conveying portion, and the two first material boxes respectively translate from the first horizontal conveying portion to the two first material picking portions;

the second conveying module comprises a second horizontal conveying part and a second material picking part, the second horizontal conveying part is arranged on one side, away from the storage cabinet, of the first conveying module, and is electrically connected with the control unit, the second material picking part is arranged on one side, close to the first conveying module, of the second horizontal conveying part at intervals and is electrically connected with the control unit, the second material box is conveyed to the second horizontal conveying part from another storage cabinet, and the second material box is translated to the second material picking part from the second horizontal conveying part respectively.

The technical effect of the utility model lies in, the removal route of correctable article to place a plurality of articles in the first material case of two on the first transport module according to the preface accurately and place the article of the second material case on the second transport module and place the department, accelerate the speed that the shipment was chosen material, improve the efficiency that the shipment was chosen material.

Furthermore, the utility model discloses the removal route of correctable article to place a plurality of articles of one of them first material case of first transport module in the article place department of another first material case according to the preface accurately, make one of them first material case can refill the article and do not have idle space, another first material case then is shifted out from the storage cabinet by the headroom, reduces material case quantity, reduces the storage space who occupies, promotes storage management efficiency.

In addition, even a certain position of the two sides of article produces serious warpage, the utility model discloses also can be through the angle of adjustment article to there is not warpage or some little warped position to aim at the article and place the department, make the article can get into the article and place the department smoothly, prevent that the two side cards of article from two locating plates.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic overall operation diagram of an automatic warehousing system including a first embodiment of the present invention;

fig. 2 is a perspective view of a first embodiment of the present invention;

FIG. 3 is a block diagram of a first embodiment of the present invention;

fig. 4 is a perspective view of the material box, the positioning plate and the object according to the first embodiment of the present invention;

fig. 5 is a perspective view of a positioning plate according to a first embodiment of the present invention;

fig. 6 is a schematic view illustrating the clamping module of the first embodiment of the present invention moving to above two positioning plates of the second material box;

fig. 7 is a block diagram of an optical reader according to a first embodiment of the present invention transmitting a first optical positioning signal to a control unit;

fig. 8 is a schematic view illustrating the clamping module of the first embodiment of the present invention moving to above two of the positioning plates of the first material box;

FIG. 9 is a block diagram of an optical reader according to a first embodiment of the present invention transmitting a second optical positioning signal to a control unit;

fig. 10 is a schematic view of the gripping module of the first embodiment of the present invention for taking out an object;

fig. 11 is a schematic view illustrating the clamping module moving the object to the calibration module according to the first embodiment of the present invention;

fig. 12 is a block diagram illustrating an optical reader according to a first embodiment of the present invention transmitting a third optical positioning signal to a control unit;

fig. 13 is a schematic view of the object shift of the first embodiment of the present invention;

fig. 14 is a block diagram of the first distance meter and the second distance meter of the first embodiment of the present invention respectively transmitting the first measurement value and the second measurement value to the control unit;

fig. 15 is a schematic view illustrating the object being moved to the upper side of the object placing position by the gripping module according to the first embodiment of the present invention;

fig. 16 is a schematic view illustrating the object being accurately placed at the object placing position by the clamping module according to the first embodiment of the present invention;

fig. 17 is a schematic diagram illustrating a moving path of an object in a full operation mode according to the first embodiment of the present invention;

fig. 18 is a perspective view of a second embodiment of the present invention;

fig. 19 is a block diagram of a calibration module and a control unit according to a second embodiment of the present invention;

FIG. 20 is a schematic view showing an allowable area between two positioning plates according to a second embodiment of the present invention;

fig. 21 is a plan view of the first to fourth distance measuring modules according to the second embodiment of the present invention measuring the distance between the object and the first and second distance measuring devices;

fig. 22 is a side view of the first to fourth ranging modules of the second embodiment of the present invention measuring the distance of an object from the first and second rangefinders;

fig. 23 is a schematic view of an article of the present invention laid flat in a first material box;

FIG. 24 is a schematic view of a box body of the present invention, wherein some objects are cylindrical or rectangular;

fig. 25 is a perspective view of a third embodiment of the present invention;

fig. 26 is a schematic view illustrating the overall operation of another automated warehousing system including a fourth embodiment of the present invention;

fig. 27 is a perspective view of a gripping module according to a fourth embodiment of the present invention;

fig. 28 is a perspective view of a fifth embodiment of the present invention;

fig. 29 is a perspective view of a storage structure according to a fourth embodiment of the present invention.

Wherein, in fig. 1-29:

1. 1A, a material selecting device for an automatic warehousing system; 10. 10A first transport module; 11. 11A first horizontal conveyance section; 12. 12A, 13A first material picking part; 20. 20A second transport module; 21. 21A second horizontal conveyance section; 22. 23 a second picking part; 301 sensing a positioning structure; 302 a third identification reflection part; 31. 32 a first material tank; 33. 34 a second material box; 40. a 40A positioning plate; 41. 41A a first identification reflection part; 42A allowable area; 50. 50A and 50B clamping modules; 51. 51B, 51C base; 511. 511B base; 511C vehicle body; 512. 513 long bars; a 512B slide rail; 514. 515 cross-posts; 516. 516C fixing the plate; 516B a sliding seat; 517C mobile device; a 518C standard sensor; 52. a 52A robotic arm; 521A screw rod; 53. a 53A chuck; 60. a 60A optical reader; 61 a light emitting portion; 62 a light receiving part; 63 a first optical positioning signal; 64 second optical positioning signals; 65 a third optical positioning signal; 70 a correction module; 71. 71A, 71B first rangefinder; 711 first ranging module; 712 a first measurement; 713 a third ranging module; 714 a third measurement; 72. 72A, 72B second rangefinder; 721 a second ranging module; a second measurement 722; 723 a fourth ranging module; 724 a fourth measurement; 73 measuring space; 80 a control unit; 100. 100A automatic warehousing system; 101. a 101A storage cabinet; 1011. 1011A material box placing area; 1012 moving space; 102 a guide rail; 103 an access device; 1031 a slide carriage; 1032 pole setting; 1033 a handling assembly; 10331 a vertical moving part; 10332 carries a platform; 10333 a horizontal moving part; 104. 104A material box; 105. 105A, 105B articles; 1051A, 1052A sides; 200 belts; arrows A-G.

Detailed Description

The embodiments of the present invention will be described in more detail with reference to the drawings and the accompanying reference symbols so that those skilled in the art can implement the embodiments after reading the description.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating an overall operation of an automated warehousing system 100 according to the present invention. The utility model provides a sorting device 1 for an automatic warehousing system, which is a part of the automatic warehousing system 100. Specifically, the automated warehouse system 100 includes a plurality of warehouse cabinets 101, a plurality of guide rails 102, a plurality of access devices 103, and a plurality of picking devices 1 for the automated warehouse system.

The storage cabinet 101 is disposed in a storage space at intervals and includes a plurality of material box placing areas 1011. The plurality of material box placing areas 1011 are used for placing a plurality of material boxes 104, and each material box placing area 1011 can be used for arranging a plurality of material boxes 104 in a row. A moving space 1012 is formed between two adjacent storage cabinets 101. In other words, the storage cabinet 101 is a vertical cabinet.

The guide rails 102 are respectively installed on the floor of the moving space 1012, surround the outer circumference of the storage cabinet 101, and are connected to each other to form a guide system.

Each access device 103 comprises a slide 1031, an upright 1032 and a carrying assembly 1033, the slide 1031 is slidably disposed on one of the rails 102, and the upright 1032 is disposed on top of the slide 1031. The carrying assembly 1033 comprises a power unit (not shown), two vertical moving units 10331, a carrying platform 10332 and a horizontal moving unit 10333, the power unit is disposed on the slide 1031, the two vertical moving units 10331 are disposed on one side of the upright 1032 and electrically connected to the power unit, the carrying platform 10332 is disposed on the vertical moving unit 10331, and the horizontal moving unit 10333 is disposed on the carrying platform 10332 and electrically connected to the power unit.

The material pick-up sequence of the automated warehousing system 100 will be briefly described below. First, the slide 1031 with the upright 1032 and the carrier assembly 1033 moves along one of the rails 102 and stays in a specific position. Next, the power unit drives the two vertical moving units 10331 to drive the supporting platform 10332 to ascend along the upright 1032 to a material box placing area 1011 of one of the storage cabinets 101. Then, the power unit drives the horizontal moving unit 10333 to move horizontally from the supporting platform 10332 to the bottom of a material box 104 in the direction of a material box placing area 1011 on a certain floor. Then, the power unit drives the horizontal moving unit 10333 to move horizontally in the direction of the supporting platform 10332 to the initial position. Again, the power section drives the vertically moving section 10331 to bring the load bearing platform 10332 down along the upright 1032. The carriage 1031, with the upright 1032 and the carrier assembly 1033, is moved along one of the rails 102 to one side of the picker 1 for the automated storage system. Finally, the power unit drives the horizontal moving unit 10333 to move horizontally from the supporting platform 10332 to the picking device 1 for the automated warehouse system, so as to transport the material box 104 to one of the picking devices 1 for the automated warehouse system.

The material taking process of the automated warehousing system 100 in turn operates as the material stocking process of the automated warehousing system 100.

Please refer to fig. 1, fig. 2 and fig. 3, which are a schematic diagram of the overall operation of the automatic warehousing system 100, a perspective view and a block diagram of the present invention, respectively. The sorting device 1 for the automated storage system includes a first conveying module 10, a second conveying module 20, two

first material boxes

31, 32, two

second material boxes

33, 34, a plurality of positioning plates 40, a clamping module 50, an optical reader 60, a calibration module 70 and a control unit 80.

The first conveying module 10 is adjacently arranged on one side of one of the storage cabinets 101 at a certain distance and is electrically connected with the control unit 80; two

first material tanks

31, 32 are provided in the first conveying module 10. More specifically, the first conveying module 10 includes a first horizontal conveying portion 11 and two

first picking portions

12 and 13. The first horizontal conveying part 11 is disposed adjacent to one side of one of the storage cabinets 101 at a distance, and is electrically connected to the control unit 80. A plurality of first horizontal conveying parts 11 of a plurality of first conveying modules 10 of a picking device 1 for a plurality of automatic warehousing systems are connected end to form a first conveying system. The two first material-sorting

parts

12, 13 are disposed at an interval on one side of the first horizontal conveying part 11 away from one of the storage cabinets 101, and are electrically connected to the control unit 80. The access device 103 takes out two material boxes from the storage cabinet 101 and conveys the two material boxes to the first horizontal conveying part 11, and the two material boxes are respectively translated from the first horizontal conveying part 11 to the two first

material sorting parts

12 and 13. Thus, two material tanks are defined as two

first material tanks

31, 32.

The second conveying module 20 is arranged on one side of the first conveying module 10 away from one of the storage cabinets 101 and is electrically connected with the control unit 80; two

second magazine boxes

33, 34 are provided in the second transport module 20. More specifically, the second conveying module 20 includes a second horizontal conveying portion 21 and two

second picking portions

22 and 23. The second horizontal conveying part 21 is disposed on a side of the first conveying module 10 away from one of the storage cabinets 101, and is electrically connected to the control unit 80. The second horizontal conveying parts 21 of the second conveying modules 20 of the picking device 1 for the automatic warehousing system are connected end to form a second conveying system. The two

second picking parts

22 and 23 are disposed at an interval on one side of the second horizontal conveying part 21 close to the first conveying module 10 and are electrically connected to the control unit 80. The access device 103 takes out another two material boxes from the storage cabinet 101 and transports the two material boxes to the second horizontal conveying part 21, and the other two material boxes are respectively translated from the second horizontal conveying part 21 to the second

material sorting parts

22 and 23. Thus, the other two material tanks are defined as two

second material tanks

33, 34.

The first horizontal transfer module 11 and the second horizontal transfer module 21 may each be a conveyor belt, a roller bar, or a combination thereof.

Referring to fig. 4 and 5, fig. 4 is a perspective view of the material box, the positioning plate 40 and the object 105 of the present invention, and fig. 5 is a perspective view of the positioning plate 40 of the present invention. The positioning plates 40 are respectively arranged in the two

first material boxes

31 and 32 and the two

second material boxes

33 and 34 at intervals, and a first identification reflection part 41 is arranged at the top of each positioning plate 40. More specifically, the first identification reflection portion 41 of each positioning plate 40 is a white coating, which has a good light reflection effect; however, other materials with good light reflection effect can be used as the first identification reflection portion 41 of each positioning board 40, which is described in advance. An object 105 is disposed between the two positioning plates 40 of one of the

first material tanks

31, 32. The objects 105 shown in fig. 4 and 5 are SMT-specific trays, but not limited thereto, and will be described first.

As shown in fig. 2 and 3, the gripping module 50 includes a base 51, a robot arm 52 and a chuck 53. The base 51 is disposed between the first and

second conveyor modules

10 and 20. A first end of the robot 52 is rotatably disposed on the base 51, and the robot 52 is electrically connected to the control unit 80. The chuck 53 is disposed at a second end of the robot arm 52, electrically connected to the control unit 80, and capable of gripping the object 105. In the first embodiment, the base 51 includes a base 511, two

long columns

512, 513, two

transverse columns

514, 515 and a fixing plate 516. The base 511 is arranged on the ground, the two

long columns

512 and 513 are fixed on the top surface of the base 511, the two

transverse columns

514 and 515 are arranged between the two

long columns

512 and 513, and the fixing plate 516 is arranged on the top surfaces of the two

long columns

512 and 513; the robot arm 52 is rotatably disposed on the fixing plate 516. In other words, the entire base 51 is immovable, so the robot arm 52 provided on the base 51 can only rotate in place.

As shown in fig. 2 and 3, the optical reader 60 is disposed on the chuck 53 and electrically connected to the control unit 80. Preferably, the optical reader 60 includes a light emitting portion 61 and a light receiving portion 62, and the light emitting portion 61 and the light receiving portion 62 are electrically connected to the control unit 80 respectively.

As shown in fig. 2 and 3, the calibration module 70 is disposed between the first conveying module 10 and the second conveying module 20, is located at one side of the gripping module 50, and is spaced apart from the gripping module 50. More specifically, the calibration module 70 includes a first distance meter 71 and a second distance meter 72, the first distance meter 71 and the second distance meter 72 are respectively electrically connected to the control unit 80, and a measurement space 73 is provided between the first distance meter 71 and the second distance meter 72. The first distance measuring device 71 includes a first distance measuring module 711, wherein the first distance measuring module 711 has a first distance measuring range; the second distance measuring device 72 includes a second distance measuring module 721, and the second distance measuring module 721 has a second distance measuring range. The first ranging module 711 is an infrared ranging module or a laser ranging module, and the second ranging module 721 is an infrared ranging module or a laser ranging module. Preferably, the calibration module 70 is provided with a second identification reflection part (not shown). More specifically, the second identification reflection part of the calibration module 70 is a white coating, which has a good light reflection effect; however, it should be noted that other materials with good light reflection effect can be used as the second identification reflection part of the calibration module 70. In the present embodiment, the first distance meter 71 and the second distance meter 72 are respectively disposed on the top surfaces of the two

lateral posts

514, 515 of the base 51.

The following describes the three operation modes of the present invention in detail with reference to the drawings.

The first operation mode: as shown in fig. 6 and 7, the control unit 80 controls the robot arm 52 to move to above two of the positioning plates 40 of one of the second material boxes 33, and the optical reader 60 optically reads the first identifying reflection portions 41 of the two of the positioning plates 40 of one of the second material boxes 33 to obtain a first optical positioning signal 63 and transmit the first optical positioning signal to the control unit 80. The control unit 80 calculates the correct position of the object according to the first optical positioning signal 63. Then, as shown in fig. 8 and 9, the control unit 80 controls the robot arm 52 to move to above two of the positioning plates 40 of one of the first material boxes 31 (the moving path is shown by arrow a in fig. 17), and the optical reader 60 optically reads the first identifying reflection portion 41 of two of the positioning plates 40 of one of the first material boxes 31 to obtain a second optical positioning signal 64 and transmits the second optical positioning signal to the control unit 80. The control unit 80 calculates the correct orientation of the object according to the second optical positioning signal 64. As shown in fig. 10, the control unit 80 precisely controls the robot 52 to align the object 105 according to the calculated correct orientation of the object, so that the chuck 53 precisely takes out the object 105. As shown in fig. 11 and 12, the control unit 80 controls the robot arm 52 to move toward the calibration module 70 (the moving path is shown by arrow B in fig. 17), so that the chuck 53 moves the object 105 into the measuring space 73, the optical reader 60 optically reads the second identification reflection portion of the calibration module 70 to obtain a third optical positioning signal 65 and transmits the third optical positioning signal 65 to the control unit 80, and the control unit 80 records that the object 105 is actually moved to the calibration module 70 by the clamping module 50 according to the third optical positioning signal 65. When the object 105 is moved to the measuring space 73, the calibration module 70 measures whether the object 105 deviates from the correct moving path to obtain a measured value and transmits the measured value to the control unit 80, and the control unit 80 calculates a deviation value between the object 105 and the correct moving path according to the measured value. More specifically, as shown in fig. 13 and 14, when the object 105 is moved to the measuring space 73, the bottom end of the object 105 is located in the first range and the second range, the first ranging module 711 measures the distance between the object 105 and the first range finder 71 to obtain a first measurement value 712 and transmits the first measurement value to the control unit 80, and the second ranging module 721 measures the distance between the object 105 and the second range finder 72 to obtain a second measurement value 722 and transmits the second measurement value 722 to the control unit 80. The control unit 80 calculates an offset value, which is one-half of the absolute value of the difference between the first measurement value 712 and the second measurement value 722, according to the first measurement value 712 and the second measurement value 722. As shown in fig. 15 and 16, the control unit 80 controls the robot 52 to slightly adjust the extending distance thereof according to the calculated deviation value and the correct orientation of the object placement site, so that the object 105 on the chuck 53 can return to the correct moving path, and then move from the calibration module 70 to above the object placement site via the correct moving path (the moving path is shown by arrow C in fig. 17) and precisely place the object 105 on the object placement site.

The second operation mode: the control unit 80 controls the robot arm 52 to move above two of the positioning plates 40 of the other second material box 34, and the optical reader 60 optically reads the first identifying reflection part 41 of two of the positioning plates 40 of the other second material box 34 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal to the control unit 80. The subsequent operation is similar to the first operation mode, with the difference that: firstly, the control unit 80 controls the robot arm 52 to move to a slightly different moving path above two of the positioning plates 40 of one of the first material tanks 31 (the moving path is shown by arrow D in fig. 17); second, the object is placed between two of the positioning plates 40 of the other second magazine 34, so the correct moving path is longer than that in the first operation mode (the moving path is shown by arrows C and D in fig. 17).

The utility model discloses the removal route of article 105 is rectified to the first kind of operation mode of accessible and the second kind of operation mode to in placing the article department of placing two second thing workbin 33, 34 on second transport module 20 in proper order a plurality of articles 105 in the first material case 31 of two on the

first transport module

10, 32 accurately, accelerate the speed of shipment sorting, improve the efficiency of shipment sorting.

The third operation mode: the control unit 80 controls the robot arm 52 to move to the position above two of the positioning plates 40 of the other first material tank 32, and the optical reader 60 optically reads the first identification reflection parts 41 of two of the positioning plates 40 of the other first material tank 32 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal to the control unit 80. The subsequent operation is similar to the first operation mode, with the difference that: firstly, the control unit 80 controls the robot arm 52 to move to a slightly different moving path above two of the positioning plates 40 of one of the first material boxes 31 (the moving path is shown by an arrow F in fig. 17); secondly, the object is placed between two of the positioning plates 40 of the other first material tank 32, so the correct moving path is completely different from the first and second operation modes (the moving path is shown by arrow G in fig. 17).

The utility model discloses the removal route of article 105 is rectified to accessible third kind mode of operation to placing a plurality of articles 105 of one of them first material case 31 of first transport module 10 in the article place of another first material case 32 in proper order accurately, making one of them first material case 31 can refill article 105 and do not have idle space, another first material case 32 then is shifted out from storage cabinet 101 by the headroom, reduce material case quantity, reduce the storage space who occupies, promote storage management efficiency.

It should be noted that when the optical reader 60 performs the optical reading operation, the light emitting portion 61 emits light, wherein the first identifying reflection portion 41 of the two positioning plates 40 or the second identifying reflection portion of the calibration module 70 reflects the light back to the light receiving portion 62 to obtain the first optical positioning signal 63, the second optical positioning signal 64 or the third optical positioning signal 65. Preferably, the light emitting portion 61 is a flash lamp, and only when the optical reading operation is performed, the light is emitted for a short time to achieve the optical reading effect, so as to reduce the power consumption.

Preferably, as shown in fig. 4, a plurality of sensing and positioning structures 301 are respectively disposed outside the two

first material tanks

31, 32 and the two

second material tanks

33, 34, the sensing and positioning structures 301 are convex columns or concave grooves, and a third identification reflection portion 302 is respectively disposed on the sensing and positioning structures 301.

In the first operation mode, as shown in fig. 6 and 7, the control unit 80 controls the robot arm 52 to move to above two of the positioning plates 40 of one of the second material boxes 33, the optical reader 60 optically reads the first identifying reflective portions 41 of the two of the positioning plates 40 of one of the second material boxes 33, and the optical reader 60 also optically reads the third identifying reflective portions 302 of the sensing and positioning structure 301 of one of the second material boxes 33 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 optically reading the first identifying reflection portion 41 of the two positioning plates 40 of one of the second object boxes 33 and the third identifying reflection portion 302 of the sensing positioning structure 301 of one of the second object boxes 33. Therefore, the control unit 80 can calculate the correct position of the object according to the first optical positioning signal 63. Next, as shown in fig. 8 and 9, the control unit 80 controls the robot arm 52 to move to above two of the positioning plates 40 of one of the first material tanks 31 (the moving path is shown by arrow a in fig. 17), the optical reader 60 optically reads the first identifying reflection portions 41 of two of the positioning plates 40 of one of the first material tanks 31, and simultaneously the optical reader 60 also optically reads the third identifying reflection portion 302 of the sensing and positioning structure 301 of one of the first material tanks 31 to obtain the second optical positioning signal 64 and transmit the second optical positioning signal to the control unit 80. In other words, the second optical positioning signal 64 includes the optical reader 60 optically reading the reading results of the first identifying reflection portion 41 of two of the positioning plates 40 of one of the first material boxes 31 and the third identifying reflection portion 302 of the sensing and positioning structure 301 of one of the first material boxes 31. Therefore, the control unit 80 can calculate the correct position of the object more accurately according to the second optical positioning signal 64.

In the second operation mode, the control unit 80 controls the robot arm 52 to move to above two of the positioning plates 40 of the other second material box 34, the optical reader 60 optically reads the first identifying reflection portion 41 of the two of the positioning plates 40 of the other second material box 34, and the optical reader 60 optically reads the third identifying reflection portion 302 of the sensing positioning structure 301 of the other second material box 34 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 optically reading the first identifying reflection portion 41 of the two positioning plates 40 of the other second material box 34 and the third identifying reflection portion 302 of the sensing positioning structure 301 of the other second material box 34. Therefore, the control unit 80 can calculate the correct position of the object according to the first optical positioning signal 63.

In the third operation mode, the control unit 80 controls the robot arm 52 to move to the position above two of the positioning plates 40 of another first material tank 32, the optical reader 60 optically reads the first identifying reflection portion 41 of two of the positioning plates 40 of another first material tank 32, and simultaneously the optical reader 60 optically reads the third identifying reflection portion 302 of the sensing and positioning structure 301 of another first material tank 32 to obtain the first optical positioning signal 63 and transmit the first optical positioning signal to the control unit 80. In other words, the first optical positioning signal 63 includes the optical reader 60 optically reading the reading results of the first identification reflection portion 41 of two of the positioning plates 40 of another first material box 32 and the third identification reflection portion 302 of the sensing and positioning structure 301 of another first material box 32. Therefore, the control unit 80 can calculate the correct position of the object according to the first optical positioning signal 63.

Preferably, the control unit 80 is capable of controlling the robot arm 52 to correct any five coordinates of the X-axis, Y-axis, Z-axis, a-axis, B-axis, and C-axis of the object 105 (i.e. five-axis correction), so as to adjust the angle of the object 105 more finely, such that the area of the bottom ends of the two

sides

1051A, 1052A of the rotated object 105A is completely equal to the allowable area 42A.

As shown in fig. 18, 19 and 20, in the second embodiment, two first identification reflection portions 41A are disposed at the top of each positioning plate 40A, the optical reader 60A optically reads the first identification reflection portions 41A of two positioning plates 40A of another first material tank 32 or one of the

second material tanks

33, 34, and the control unit 80 calculates the area of the space between the first identification reflection portions 41A of two positioning plates 40A of another first material tank 32 or one of the

second material tanks

33, 34 according to the first optical positioning signal 63, and accordingly defines an allowable area 42A; the first distance measuring device 71A has a third distance measuring module 713, and the third distance measuring module 713 has a third distance measuring range; the second distance measuring device 72A has a fourth distance measuring module 723, and the fourth distance measuring module 723 has a fourth distance measuring range. The distance between the first ranging module 711 and the third ranging module 713 and the distance between the second ranging module 721 and the fourth ranging module 723 are both equal to the distance between the two first identification reflectors 41A of each positioning board 40A, and the distance between the first distance meter 71A and the second distance meter 72A is equal to the distance between the two positioning boards 40A. The third ranging module 713 is an infrared ranging module or a laser ranging module, and the fourth ranging module 723 is an infrared ranging module or a laser ranging module.

As shown in fig. 21 and 22, when the object 105A is moved to the measuring space 73, the bottom end of the object 105A is located in the first to fourth distance measuring ranges, the third distance measuring module 713 measures the distance between the object 105A and the first distance measuring instrument 71A to obtain a third measured value 714 and transmits the third measured value 714 to the control unit 80, the fourth distance measuring module 723 measures the distance between the object 105A and the second distance measuring instrument 72A to obtain a fourth measured value 724 and transmits the fourth measured value 724 to the control unit 80, and the control unit 80 calculates the actual area of the bottom ends of the two

sides

1051A and 1052A of the object 105A according to the first to fourth measured

values

712, 722, 714 and 724. When the actual area of the bottom ends of the two

sides

1051A, 1052A of the object 105A is larger than the allowable area 42A, it represents that the bottom ends of the two

sides

1051A, 1052A of the object 105A are seriously warped, so that the width of the bottom ends of the two

sides

1051A, 1052A of the object 105A is larger than the distance between the two positioning plates 40A of the other first material box 32 or one of the

second material boxes

33, 34. The control unit 80 controls the robot 52 to rotate the object 105A, thereby adjusting the angle of the object 105 such that the area of the bottom ends of the two

sides

1051A and 1052A of the rotated object 105A is equal to or smaller than the allowable area 42A. At this time, the width of the bottom ends of the two

sides

1051A, 1052A of the rotated object 105 is equal to or less than the distance between the two positioning plates 40A of the other first material box 32 or one of the

second material boxes

33, 34. Even a certain position of the two

sides

1051A, 1052A of article 105 produces serious warpage, the utility model discloses also can be through the angle of adjusting article 105 to article place department is aimed at to the position that does not have warpage or little warpage, makes article 105 can smoothly get into article place department, prevents that two

sides

1051A, 1052A of article 105A from blocking on two locating plates 40A.

In addition, as shown in fig. 23, when the object 105 is an SMT-specific tray, the object 105 may be placed flat in the first material tank 31.

As shown in fig. 24, in the first material tank 31, one row of the objects 105 is a tray dedicated for SMT, and the other row of the objects 105B may be cylindrical, rectangular or other box-shaped objects.

Referring to fig. 25, fig. 25 is a perspective view of a third embodiment of the present invention. The third embodiment of the present invention is different from the first embodiment in that: gripper module 50A uses a conventional four-axis robot arm 52A; a screw 521A rotatably disposed at the second end of the four-axis robot arm 52A and penetrating the top and bottom thereof and electrically connected to the control unit 80; the chuck 53A is arranged at the bottom end of the screw 521A; the first distance meter 71B and the second distance meter 72B are fixed to both sides of the second end of the four-axis robot arm 52A.

The three operation modes of the third embodiment are different from those of the first embodiment in that: the control unit 80 controls the screw 521A to move downwards, so that the chuck 53A accurately takes out the object 105; the control unit 80 controls the screw 521A to move upward so that the chuck 53A moves the object 105 into the measuring space. As for the rest of the three operation modes of the third embodiment, they are the same as the three operation modes of the first embodiment, and are not described herein again. Thus, the third embodiment can achieve all the effects of the first embodiment.

Referring to fig. 26 and 27, fig. 26 is a schematic overall operation diagram of another automatic warehousing system including a fourth embodiment of the present invention, and fig. 27 is a perspective view of a gripping module 50B according to the fourth embodiment of the present invention. The other automated warehouse system 100A only includes a plurality of storage cabinets 101A and a plurality of picking devices 1A for the automated warehouse system, and does not include the guide rail 102 and the access device 103. The storage cabinet 101A is a box-shaped cabinet body and comprises a material box placing area 1011A. The area of the layer material box placing area 1011A is wide, and a plurality of material boxes 104A can be arranged in rows, and each row has a plurality of material boxes 104A.

The overall structure of the material pickup device 1A for the automated warehouse system of the fourth embodiment is different from the overall structure of the material pickup device 1 for the automated warehouse system of the first embodiment in at least the following three ways.

First, the plurality of first horizontal conveyance parts 11A of the plurality of first conveyance modules 10A of the fourth embodiment are slit and not connected to each other, so that a first conveyance system is not created. Therefore, the first horizontal conveying portion 11A functions to directly convey the two material boxes 104A from the storage cabinet 101A to the two first picking portions 12A and 13A. That is, the first horizontal conveying part 11A of the fourth embodiment is equivalent to the accessing device 103 of the automated warehouse system 100 of the first embodiment, or a storage structure with the identification emitting part D on the partition, as shown in fig. 29.

Next, the second conveyor module 20A of the fourth embodiment does not include a second picker. Therefore, in addition to maintaining the end-to-end connection of the second horizontal conveying portions 21A of the second conveying modules 20A to form the second conveying system, when the second horizontal conveying portions 21A convey the second material boxes 104A to the side of the clamping module 50B, the second horizontal conveying portions 21A immediately stop operating, so that the clamping module 50B can accurately place the plurality of objects 105 in the

first material boxes

31 and 32 of the first conveying module 10A on the object placing positions of the

second material boxes

33 and 34 of the second conveying module 20A in sequence. After the completion of the above operation, the second horizontal conveyance section 21A can be restarted. The second horizontal conveying section 21A of the fourth embodiment is a roller.

Further, the entire structure of the base 51B of the fourth embodiment is greatly different from that of the base 51 of the first embodiment. More specifically, the susceptor 51B of the fourth embodiment includes a plurality of bases 511B, a slide 517B and a slide 518B. The base 511B is disposed on a floor. The slide rail 517B is provided on the base 511B. The sliding base 518B is slidably disposed on the sliding rail 517B, and the four-axis robot arm 52A is rotatably disposed on the sliding base 518B. The four-axis robot arm 52A can move horizontally along the sliding rail 517B by the sliding base 518B.

Referring to fig. 28, fig. 28 is a perspective view of a fifth embodiment of the present invention. The base 51C of the fifth embodiment is significantly different in structure from the base 51 of the first embodiment. More specifically, the base 51C of the fifth embodiment includes a body 511C, a fixing plate 516C, a moving device 517C, and a standard sensor 518C. A fixed plate 516C is provided on the top of the vehicle body 511C, and the four-axis robot arm 52A is provided on the fixed plate 516C. Moving device 517C is provided at the bottom of vehicle body 511C. The standard sensor 518C is disposed on one side of the vehicle body 511C, extends to the bottom of the vehicle body 511C, and is electrically connected to the control unit 80. The standard sensor 518C can sense one of the bands 200 on the ground and obtain a sensing result. The standard sensor 518C transmits the sensing result back to the control unit 80, and the control unit 80 controls the operation of the moving device 517C through the sensing result, so that the vehicle body 511C can move along the extending direction of the belt body 200. Preferably, the belt body 200 is a magnetic strip or a colored strip, the standard sensor 518C is a magnetic strip standard sensor 518C or a colored standard sensor 518C, and the moving device 517C is a track or a roller.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A picker device for an automated storage system, comprising: the device comprises a first conveying module, a second conveying module, two first material boxes, two second material boxes, a plurality of positioning plates, a clamping module, an optical reader, a correcting module and a control unit, wherein the two first material boxes are arranged in the first conveying module, the two second material boxes are arranged in the second conveying module, the positioning plates are respectively arranged in the two first material boxes and the two second material boxes at intervals, the top of each positioning plate is provided with a first identification reflection part, an object is arranged between the two positioning plates of one first material box, the optical reader is arranged on the clamping module, and the control unit is electrically connected with the first conveying module, the second conveying module, the clamping module, the optical reader and the correcting module;

2. The sorting device of claim 1, wherein the calibration module is disposed between the first conveying module and the second conveying module, is located at a side of the gripping module, and is spaced apart from the gripping module by a distance, the calibration module comprises a first distance meter and a second distance meter, the first distance meter and the second distance meter are respectively electrically connected to the control unit, a measuring space is provided between the first distance meter and the second distance meter, the first distance meter comprises a first distance meter module, the first distance meter module has a first distance measuring range, the second distance meter comprises a second distance measuring module, and the second distance meter module has a second distance measuring range;

3. The sorting device of claim 2, wherein the top of each positioning board is provided with two first identifying reflectors, the optical reader optically reads the first identifying reflectors of two positioning boards of the other first material box or the second material box, and the control unit calculates the area of the space between the first identifying reflectors of two positioning boards of the other first material box or the second material box according to the first optical positioning signal and defines an allowable area accordingly;

4. The sorting device of claim 3, wherein the first distance measuring module is an infrared distance measuring module or a laser distance measuring module, the second distance measuring module is an infrared distance measuring module or a laser distance measuring module, the third distance measuring module is an infrared distance measuring module or a laser distance measuring module, and the fourth distance measuring module is an infrared distance measuring module or a laser distance measuring module.

5. The apparatus as claimed in claim 1, wherein the calibration module has a second recognition reflection portion, and when the pick-up module moves the object to the calibration module, the optical reader optically reads the second recognition reflection portion of the calibration module to obtain a third optical positioning signal and transmits the third optical positioning signal to the control unit, and the control unit records that the pick-up module actually moves the object to the calibration module according to the third optical positioning signal.

6. The sorting device of claim 5, wherein the optical reader comprises a light emitting portion and a light receiving portion, the light emitting portion emits light when the optical reader performs an optical reading operation, and the second identifying and reflecting portion of the calibration module reflects the light back to the light receiving portion to obtain the third optical positioning signal.

7. The device of claim 1, wherein the optical reader comprises a light emitting portion and a light receiving portion, the light emitting portion and the light receiving portion are electrically connected to the control unit, respectively, the light emitting portion emits light when the optical reader performs an optical reading operation, and the first identifying reflective portion of the two positioning plates reflects light back to the light receiving portion to obtain the first optical positioning signal or the second optical positioning signal.

8. The apparatus of claim 1, wherein a plurality of sensing and positioning structures are respectively disposed outside the two first material boxes and the two second material boxes, the sensing and positioning structures are protrusions or grooves, the sensing and positioning structures are respectively disposed with a third identifying and reflecting portion, the optical reader optically reads the first identifying and reflecting portion of two positioning plates of the other first material box or the second material box, and the optical reader optically reads the third identifying and reflecting portion of the sensing and positioning structures to obtain the first optical positioning signal and transmit the first optical positioning signal to the control unit.

9. The picking device of claim 1, wherein the pick-up module comprises a base, a robot arm, and a chuck, the base is disposed between the first conveying module and the second conveying module, a first end of the robot arm is rotatably disposed on the base, the robot arm is electrically connected to the control unit, the chuck is disposed at a second end of the robot arm, is electrically connected to the control unit, and can pick up the object, and the optical reader is disposed on the chuck.

10. The apparatus of claim 1, wherein the first conveying module comprises a first horizontal conveying portion and two first picking portions, the first horizontal conveying portion is disposed adjacent to a side of a storage cabinet and is electrically connected to the control unit, the two first picking portions are disposed at a distance from the side of the first horizontal conveying portion away from the storage cabinet and are electrically connected to the control unit, the two first material boxes are conveyed from the storage cabinet to the first horizontal conveying portion, and the two first material boxes respectively translate from the first horizontal conveying portion to the two first picking portions;